The Output Regulation for the Cross Coupling Nonlinear Systems
交叉耦合非线性系统的输出调节

In this paper, the problem of the output regulation for the cross coupling nonlinear system is studied. It is shown that, under the centre manifold theory, the problem is solvable if and only if a certain nonlinear partial differential equation is solvable. A zero-error manifold for the cross coupling nonlinear system is defined,a sufficient and necessary condition about the existence of the zero-error manifold is given, which is based on power series expansions, and then the local convergence of the zero-error manifold is discussed.